CN106182035A - Plane joint manipulator - Google Patents
Plane joint manipulator Download PDFInfo
- Publication number
- CN106182035A CN106182035A CN201610773001.9A CN201610773001A CN106182035A CN 106182035 A CN106182035 A CN 106182035A CN 201610773001 A CN201610773001 A CN 201610773001A CN 106182035 A CN106182035 A CN 106182035A
- Authority
- CN
- China
- Prior art keywords
- arm
- joint
- rotary shaft
- joint arm
- adjustable plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
nullA kind of plane joint manipulator，Including base、The lifting platform being located on base、The fixing seat being located on lifting platform、It is slidedly arranged on the slide unit on fixing seat and the rotation axis support being located on slide unit，Rotation axis support is hollow tube-shape and is provided with rotating servo motor therein，The motor shaft of rotating servo motor is rotationally connected with reductor，Reductor is rotationally connected with rotary shaft，Rotary shaft is connected with turning arm，Turning arm is provided with adjustable plate away from rotary shaft one end，Adjustable plate is provided with a pair pen type cylinder，Pen type cylinder is connected with cylinder jaw，Turning arm includes the first joint arm、Second joint arm and connect the articulating arm of the first joint arm and second joint arm，First joint arm is fixing with rotary shaft to be connected，Adjustable plate is located on second joint arm，Rotary shaft、First joint arm、Second joint arm and articulating arm are generally aligned in the same plane，The curved setting of articulating arm.By above-mentioned mechanical hand, it is achieved automatization's clamping processing workpiece, improve production efficiency.
Description
Technical field
The present invention relates to a kind of plane joint manipulator.
Background technology
Motor shaft is the strength member of motor, and motor shaft is provided with the parts such as rotor core, rotor windings, bearing,
Forming armature assembly, motor overall performance is had a direct impact by the structure of motor shaft, material and crudy, motor shaft structure
Varied with size, the classification of down payment processing technique broadly falls into typical axial workpiece, and turning is the main processing hands of motor shaft
Section, the metalworking of motor shaft is all carried out on engine lathe, needs operator to be turned by motor shaft to be processed from machine table
Moving on in lathe, after waiting motor shaft completion of processing, motor shaft is taken out and transfers to elsewhere by operator again, turns due to artificial
Moving motor shaft, not only production efficiency is low, and transferring in lathe or when being transferred out lathe, there is certain safety hidden
Suffer from.
Summary of the invention
In order to solve above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of plane joint manipulator, not only
Can improve production efficiency, and the risk existed when having stopped artificial transfer workpiece.
To achieve these goals, the plane joint manipulator designed by the present invention, including base, lifting platform, fixing seat,
Slide unit, rotation axis support, turning arm and a pair cylinder jaw, described lifting platform is fixedly arranged on base, and described fixing seat is fixed
On lifting platform, described slide unit is connected with drive mechanism thus is slidedly arranged on fixing seat, and described rotation axis support is hollow tube-shape
And be fixedly arranged on slide unit, be provided with rotating servo motor inside described rotation axis support, the motor shaft of described rotating servo motor with
RV reductor is rotationally connected, and described RV reductor is fixedly arranged on rotation axis support, and is rotationally connected with rotary shaft, described rotary shaft
Being connected with turning arm, described turning arm is provided with adjustable plate away from rotary shaft one end, and described adjustable plate is provided with a pair pen type gas
Cylinder, described pen type cylinder is connected with cylinder jaw, and described turning arm includes the first joint arm, second joint arm and connects first
Joint arm and the articulating arm of second joint arm, described first joint arm is fixing with rotary shaft to be connected, and described adjustable plate is located at
On second joint arm, described rotary shaft, the first joint arm, second joint arm and articulating arm are generally aligned in the same plane, described
The curved setting of articulating arm.
Further, described second joint arm is installed with the dovetails of setting in parallel, described adjustable plate be provided with
The dovetail groove that dovetails is suitable.
Further, described adjustable plate is provided with a pair arc regulating tank, and arc regulating tank is oppositely arranged by up and down,
Being installed with cylinder on described arc regulating tank and fix seat, described cylinder is fixed seat and is provided with line rail, and described line rail is installed with pen
Type cylinder.
Further, described drive mechanism includes servomotor, the motor shaft of described servomotor and slide unit bolt, described
Being additionally provided with a pair slide rail on fixing seat, described slide unit lower surface both sides are slidedly arranged on slide rail, so that slide unit sets along slide rail is sliding
On fixing seat.
Further, described rotary shaft includes the rotary connector that periphery is arc, fixing connecting portion and transition part, described
Transition part two ends are fixed be connected with rotary connector, fixing connecting portions respectively, and curved setting, and described transition part connects with fixing
The portion of connecing is connected the width of one end less than the width of fixing connecting portion.
Further, described rotation axis support periphery is fixedly arranged on matched fixed mount, fixed on described fixed mount
Having a locating rack, described locating rack upper end to be provided with locating piece, described locating piece has arcwall face, this arcwall face and rotary shaft periphery
Suitable, after described rotary shaft turns an angle, described transition part abuts against with locating piece.
Further, the radian of described articulating arm is less than 180 ° more than 90 °.
Compared with prior art, the plane joint manipulator that the present invention obtains, it provides the benefit that: by above-mentioned machinery
Hands, it is achieved automatization's clamping processing workpiece, while improving operator safety, improves production efficiency.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention.
Fig. 2 is the structural representation of second joint arm in the present invention.
Fig. 3 is the structural representation of adjustable plate in the present invention.
Fig. 4 is another structural representation of adjustable plate in the present invention.
Detailed description of the invention
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
As Figure 1-4, the plane joint manipulator that the present invention provides, including base 1, lifting platform 2, fixing seat 3, slide unit
4, rotation axis support 5, turning arm 6 and a pair cylinder jaw 7, described lifting platform is fixedly arranged on base, and described fixing seat is fixed
On lifting platform, described slide unit is connected with drive mechanism thus is slidedly arranged on fixing seat, and described rotation axis support is hollow tube-shape
And be fixedly arranged on slide unit, it is provided with rotating servo motor (not marking in figure) inside described rotation axis support, in the present embodiment, rotates
The periphery of shaft stool is provided with a through hole 8, is connected so that inside and outside when rotation axis support is fixedly arranged on slide unit, described rotating servo
The motor shaft of motor is rotationally connected with RV reductor 9, and described RV reductor is fixedly arranged on rotation axis support, and with rotary shaft 10 turns
Being dynamically connected, described rotary shaft is connected with turning arm 6, and described turning arm is provided with adjustable plate 11, described tune away from rotary shaft one end
Joint plate is provided with a pair pen type cylinder 12, and described pen type cylinder is connected with cylinder jaw.
Described turning arm 6 includes the first joint arm 13, second joint arm 14 and connects the first joint arm and second joint
The articulating arm 15 of arm, wherein, the cross section of the first joint arm, second joint arm and articulating arm is all provided with being set to annulus
Shape, described first joint arm and rotary shaft are fixing to be connected, and described adjustable plate is located on second joint arm, described rotary shaft, first
Joint arm, second joint arm and articulating arm are generally aligned in the same plane, the curved setting of described articulating arm, the present embodiment
In, the radian of described articulating arm more than 90 ° less than 180 °, the i.e. first joint arm around articulating arm knee along pointer
Rotate up to rotational angle when coinciding with second joint arm more than 90 ° less than 180 °.
Described second joint arm is provided with four fixed pans 16, and four fixed pans are according to the central shaft of second joint arm
Be symmetrical arranged two-by-two, and four fixed pans be uniformly distributed on the periphery of second joint arm, the length of four fixed pans with
The length of second joint arm is equal, is positioned on the fixed pan directly over second joint arm and is installed with dovetails 17, described dovetail
The bearing of trend of block is consistent with the bearing of trend of this fixed pan, is positioned at second joint arm away from the first joint arm side
Being installed with a slide block 18 on fixed pan, the bearing of trend of slide block is consistent with fixed pan, and its length is less than fixed pan
Length, described adjustable plate 11 is L-shaped, adjustable plate be positioned at above second joint arm and be installed with near the side of second joint arm with
The dovetail groove 19 that dovetails is suitable, regulating block is positioned at second joint side and the side near second joint arm and is installed with a pair
Fixed block 20, fixed block is provided with the chute 21 suitable with slide block.Joined with slide block with dovetails, chute by dovetail groove
Close, not only increase the fixed effect of regulating block, and the regulation of the beneficially particular location of adjustable plate, when needs are according to processing
When the position in place is adjusted, it is only necessary to unclamp dovetail groove combine with dovetails place screw, move to a location
Postpone, then with screw by adjustable plate and dovetails Joint.
Described adjustable plate is provided with a pair arc regulating tank 22, and arc regulating tank is oppositely arranged by up and down, described
Being installed with cylinder on arc regulating tank and fix seat 23, described cylinder is fixed seat and is provided with line rail 24, and described line rail is installed with pen
Type cylinder.By arc regulating tank, the direction of two pen type cylinders can be regulated, thus regulate the direction of two cylinder jaws.
In the present embodiment, described drive mechanism includes servomotor 25, the motor shaft of described servomotor and slide unit phase spiral shell
Connecing, described fixing seat is additionally provided with a pair slide rail 26, described slide unit lower surface both sides are slidedly arranged on slide rail so that slide unit along
Slide rail is slidedly arranged on fixing seat.
Described rotary shaft 10 includes the rotary connector 27 that periphery is arc, fixing connecting portion 28 and transition part 29, institute
State transition part two ends to fix be connected with rotary connector, fixing connecting portion respectively, and curved setting, described transition part is with fixing
Connecting portion is connected the width of one end less than the width of fixing connecting portion.
It is fixedly arranged on matched fixed mount 30 on described rotation axis support periphery, described fixed mount is installed with certain
Position frame 31, described locating rack upper end is provided with locating piece 32, and described locating piece has arcwall face 33, this arcwall face and rotary shaft periphery
Suitable, after described rotary shaft turns an angle, described transition part abuts against with locating piece.As it is shown in figure 1, described rotary shaft
Now can rotate counterclockwise, it is also possible to rotate clockwise, and the angle that now rotates clockwise is much smaller than rotating counterclockwise
Angle.
Before using, according to using environment, the such as putting position etc. of lathe, work stage, regulate slide unit and adjustable plate
Angle of position and a pair pen type cylinder etc..As it is shown in figure 1, be the state after regulation, then, away from articulating arm
Cylinder jaw reaches under the effect of pen type cylinder and captures motor shaft to be processed, then rotating servo motor inverse time in work stage
Pin rotates, and axle is rotated and turning arm turns an angle, be positioned at outside lathe, grab the cylinder jaw of motor shaft to be processed
Under the effect of pen type cylinder, motor shaft to be processed being put into the fixed position of lathe, motor shaft, after lathe process, leans on
The cylinder jaw of nearly articulating arm, under the effect of the pen type cylinder of its correspondence, captures the motor after processing in reaching lathe
Axle, then, after rotating servo motor rotates clockwise certain angle, is transferred to other work stage by the motor shaft processed or adds
On work platform, then return the original state after regulation, carry out the crawl of next motor shaft to be processed.
Capture motor shaft by this plane joint manipulator, thus realize automatization's transfer of motor shaft, it is not necessary to manually grasp
Make, while improve production efficiency, stopped operator and shifted the risk that motor shaft exists.
Claims (7)
1. plane joint manipulator, it is characterised in that: include base, lifting platform, fixing seat, slide unit, rotation axis support, turning arm
And a pair cylinder jaw, described lifting platform is fixedly arranged on base, and described fixing seat is fixedly arranged on lifting platform, described slide unit with drive
Motivation structure is connected thus is slidedly arranged on fixing seat, and described rotation axis support is hollow tube-shape and is fixedly arranged on slide unit, described rotation
Being provided with rotating servo motor inside shaft stool, the motor shaft of described rotating servo motor is rotationally connected with RV reductor, described RV
Reductor is fixedly arranged on rotation axis support, and is rotationally connected with rotary shaft, and described rotary shaft is connected with turning arm, described rotation
Arm is provided with adjustable plate away from rotary shaft one end, and described adjustable plate is provided with a pair pen type cylinder, and described pen type cylinder presss from both sides with cylinder
Pawl is connected, and described turning arm includes the first joint arm, second joint arm and connects the pass of the first joint arm and second joint arm
Joint linking arm, described first joint arm is fixing with rotary shaft to be connected, and described adjustable plate is located on second joint arm, described rotation
Axle, the first joint arm, second joint arm and articulating arm are generally aligned in the same plane, the curved setting of described articulating arm.
Plane joint manipulator the most according to claim 1, it is characterised in that: it is installed with and it on described second joint arm
The dovetails be arrangeding in parallel, described adjustable plate is provided with the dovetail groove suitable with dovetails.
Plane joint manipulator the most according to claim 1, it is characterised in that: described adjustable plate is provided with a pair arc and adjusts
Save groove, and arc regulating tank is oppositely arranged by up and down, described arc regulating tank is installed with cylinder and fixes seat, described cylinder
Fixing seat is provided with line rail, and described line rail is installed with pen type cylinder.
Plane joint manipulator the most according to claim 1, it is characterised in that: described drive mechanism includes servomotor,
The motor shaft of described servomotor and slide unit bolt, described fixing seat is additionally provided with a pair slide rail, described slide unit lower surface two
Sideslip is located on slide rail, so that slide unit is slidedly arranged on fixing seat along slide rail.
Plane joint manipulator the most according to claim 1, it is characterised in that: described rotary shaft includes that periphery is arc
Rotary connector, fixing connecting portion and transition part, described transition part two ends are fixed with rotary connector, fixing connecting portion respectively
Connecting, and curved setting, described transition part is connected the width of one end less than the width of fixing connecting portion with fixing connecting portion.
Plane joint manipulator the most according to claim 5, it is characterised in that: it is fixedly arranged on described rotation axis support periphery
Matched fixed mount, described fixed mount is installed with a locating rack, and described locating rack upper end is provided with locating piece, described fixed
Position block has arcwall face, and this arcwall face is suitable with rotary shaft periphery, after described rotary shaft turns an angle, and described transition part
Abut against with locating piece.
Plane joint manipulator the most according to claim 1, it is characterised in that: the radian of described articulating arm is more than
90 ° are less than 180 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610773001.9A CN106182035A (en) | 2016-08-31 | 2016-08-31 | Plane joint manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610773001.9A CN106182035A (en) | 2016-08-31 | 2016-08-31 | Plane joint manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106182035A true CN106182035A (en) | 2016-12-07 |
Family
ID=58088914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610773001.9A Pending CN106182035A (en) | 2016-08-31 | 2016-08-31 | Plane joint manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106182035A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499767A (en) * | 2017-08-31 | 2017-12-22 | 李祖彦 | A kind of dustbin Tilting device |
| CN115648657A (en) * | 2022-09-26 | 2023-01-31 | 成都飞机工业（集团）有限责任公司 | Female die forming tool and forming method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470053Y (en) * | 2001-01-15 | 2002-01-09 | 欧阳伟 | Fixing holder |
| US20040037688A1 (en) * | 2002-03-01 | 2004-02-26 | Ansell Scott F. | Split collar for mechanical arm connection |
| CN102627390A (en) * | 2012-03-01 | 2012-08-08 | 佛山市德光照明有限公司 | Helical lampl bending device |
| CN103481279A (en) * | 2012-06-14 | 2014-01-01 | 南车青岛四方机车车辆股份有限公司 | Multi-freedom-degree manipulator fixture |
| CN203485206U (en) * | 2013-08-13 | 2014-03-19 | 无锡骐泽机械科技有限公司 | Power assisting manipulator |
| CN103707297A (en) * | 2013-12-23 | 2014-04-09 | 苏州博众精工科技有限公司 | Part suction mechanism |
| CN104476046A (en) * | 2014-12-03 | 2015-04-01 | 哈尔滨工程大学 | Foldable double-rotation cutting mechanism |
| CN105522066A (en) * | 2015-12-24 | 2016-04-27 | 惠州市仨联自动化设备有限公司 | Suspension type deflection mechanical hand and stamping production line thereof |
| CN206085066U (en) * | 2016-08-31 | 2017-04-12 | 宁波中大力德智能传动股份有限公司 | Planer joint manipulator |
-
2016
- 2016-08-31 CN CN201610773001.9A patent/CN106182035A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2470053Y (en) * | 2001-01-15 | 2002-01-09 | 欧阳伟 | Fixing holder |
| US20040037688A1 (en) * | 2002-03-01 | 2004-02-26 | Ansell Scott F. | Split collar for mechanical arm connection |
| CN102627390A (en) * | 2012-03-01 | 2012-08-08 | 佛山市德光照明有限公司 | Helical lampl bending device |
| CN103481279A (en) * | 2012-06-14 | 2014-01-01 | 南车青岛四方机车车辆股份有限公司 | Multi-freedom-degree manipulator fixture |
| CN203485206U (en) * | 2013-08-13 | 2014-03-19 | 无锡骐泽机械科技有限公司 | Power assisting manipulator |
| CN103707297A (en) * | 2013-12-23 | 2014-04-09 | 苏州博众精工科技有限公司 | Part suction mechanism |
| CN104476046A (en) * | 2014-12-03 | 2015-04-01 | 哈尔滨工程大学 | Foldable double-rotation cutting mechanism |
| CN105522066A (en) * | 2015-12-24 | 2016-04-27 | 惠州市仨联自动化设备有限公司 | Suspension type deflection mechanical hand and stamping production line thereof |
| CN206085066U (en) * | 2016-08-31 | 2017-04-12 | 宁波中大力德智能传动股份有限公司 | Planer joint manipulator |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499767A (en) * | 2017-08-31 | 2017-12-22 | 李祖彦 | A kind of dustbin Tilting device |
| CN115648657A (en) * | 2022-09-26 | 2023-01-31 | 成都飞机工业（集团）有限责任公司 | Female die forming tool and forming method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161207 |
|
| RJ01 | Rejection of invention patent application after publication |